Merge branch 'MrCoyne' of https://github.com/vikings204/crescendo2024 …

…into MrCoyne

src/main/java/frc/robot/Constants.java

@@ -28,7 +28,13 @@ public static final class ModuleConstants {
 
         public static final double kPModuleDriveController = 1;
     }
-
+
+    public static final class Hook {
+        public static final int MOTOR_CAN_ID = 3; // Defines the CAN id of the Spark Max motor controller
+        public static final double EXTENDED_HOOK_HEIGHT = 5; //Defines Extended Height for Hook
+        public static final double WITHDRAWN_HOOK_HEIGHT = 0; //Defines Withdrawn height for Hook
+        public static final double LIFT_HOOK_HEIGHT = 5; //Defines Lifting height for Hook
+    }
     public static final class Shooter {
 
         public static final double shooterKS = 0.667;

src/main/java/frc/robot/subsystems/HookSubsystem.java

@@ -0,0 +1,129 @@
+package frc.robot.subsystems;
+import java.util.*;
+import com.revrobotics.*;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class HookSubsystem extends SubsystemBase {
+    private CANSparkMax hookMotor;  // Create the Spark Max object in the program and include the CAN id and the type of motor used with the controller
+    private RelativeEncoder hookEncoder; // Grab the attached encoder
+    private final SparkPIDController hookController; 
+
+    public HookSubsystem() {
+        hookMotor = new CANSparkMax(Constants.Hook.MOTOR_CAN_ID, MotorType.kBrushless); // Create the Spark Max object in the program and include the CAN id and the type of motor used with the controller
+        hookEncoder = hookMotor.getEncoder(); // Grab the attached encoder
+        hookController = hookMotor.getPIDController();
+        hookMotor.restoreFactoryDefaults();
+        hookMotor.setSmartCurrentLimit(Constants.Shooter.driveContinuousCurrentLimit);
+        hookMotor.setInverted(Constants.Shooter.driveInvert);
+        hookMotor.setIdleMode(Constants.Shooter.driveNeutralMode);
+        hookController.setP(1.0);
+        hookController.setI(0);
+        hookController.setD(0);
+        hookController.setFF(0);
+        hookMotor.burnFlash();
+        hookEncoder.setPosition(0.0);
+    }
+
+
+
+
+
+    double i = hookEncoder.getPosition();
+
+    //raises the hook motor
+    public void liftHook() {
+        //private CANSparkMax hookRaising = new CANSparkMax(Constants.MAXIMUMHOOK_HEIGHT, MotorType.kBrushless); 
+        System.out.println("Raising Hook");
+        hookController.setReference(Constants.Hook.LIFT_HOOK_HEIGHT, ControlType.kPosition);
+    }
+
+    //lowers the hook motor
+    public void downHook() {
+        //private CANSparkMax hookDepth = new CANSparkMax(Constants.MAXIMUMHOOK_DEPTH, MotorType.kBrushless); 
+        System.out.println("Down Hook");
+        hookController.setReference(Constants.Hook.WITHDRAWN_HOOK_HEIGHT, ControlType.kPosition);
+    }
+
+    //lowers the hook motor
+    public void extendHook() {
+        //private CANSparkMax hookDepth = new CANSparkMax(Constants.MAXIMUMHOOK_DEPTH, MotorType.kBrushless); 
+        System.out.println("Down Hook");
+        hookController.setReference(Constants.Hook.EXTENDED_HOOK_HEIGHT, ControlType.kPosition);
+    }   
+
+    //Shuffleboard
+    protected void execute() {
+        SmartDashboard.putNumber("Hook Lifting", hookEncoder.getPosition());
+        SmartDashboard.putNumber("Hook Extension", hookEncoder.getPosition());
+        SmartDashboard.putNumber("Hook Withdrawn", hookEncoder.getPosition());
+        //SmartDashboard.putNumber("Shooter Angle", .getPosition());        
+        //SmartDashboard.putNumber("Speed", );
+        //SmartDashboard.putNumber("Front Left Drive Encoder", 0);
+        //SmartDashboard.putNumber("Front Right Drive Encoder", 0);
+        //SmartDashboard.putNumber("Back Left Drive Encoder", 0);
+        //SmartDashboard.putNumber("Back Right Drive Encoder", 0);
+        //SmartDashboard.putNumber("Swerve Angle", 0);
+    }
+    Shuffleboard.getTab("Hook Lifting")
+        .addPersistent("Lifting Height", Constants.Hook.LIFT_HOOK_HEIGHT)
+        .withWidget(BuiltInWidgets.kNumberSlider)
+        .withProperties(Map.of("min", 0, "max", 5))
+        .withSize(330,270)
+        .withPosition(500,0)  
+        .getEntry();
+    Shuffleboard.getTab("Hook Extension")
+        .addPersistent("Extended Height", Constants.Hook.EXTENDED_HOOK_HEIGHT)
+        .withWidget(BuiltInWidgets.kNumberSlider)
+        .withProperties(Map.of("min", 0, "max", 5))
+        .withSize(330,270)
+        .withPosition(500,275)  
+        .getEntry();
+    Shuffleboard.getTab("Hook Withdrawn")
+        .addPersistent("Max Depth", Constants.Hook.WITHDRAWN_HOOK_HEIGHT)
+        .withWidget(BuiltInWidgets.kNumberSlider)
+        .withProperties(Map.of("min", 0, "max", -5))
+        .withSize(330,270)
+        .withPosition(500,550)  
+        .getEntry();
+    Shuffleboard.getTab("Shooter Angle")
+        .addPersistent("Shooter Angle", SHOOTER_ANGLE)
+        .withSize(800,530)
+        .withPosition(850,0)  
+        .getEntry();
+    Shuffleboard.getTab("Speed")
+        .addPersistent("Speed", SPEED)
+        .withSize(330,270)
+        .withPosition(500,825)  
+        .getEntry();
+    Shuffleboard.getTab("Front Left Drive Encoder")
+        .addPersistent("Front Left Drive Encoder", FRONTLEFT_DRIVE_ENCODER)
+        .withSize(495,269)
+        .withPosition(0,0)  
+        .getEntry();
+    Shuffleboard.getTab("Front Right Drive Encoder")
+        .addPersistent("Front Right Drive Encoder", FRONTRIGHT_DRIVE_ENCODER)
+        .withSize(495,269)
+        .withPosition(0,270)  
+        .getEntry();
+    Shuffleboard.getTab("Back Left Drive Encoder")
+        .addPersistent("Back Left Drive Encoder", BACKLEFT_DRIVE_ENCODER)
+        .withSize(495,269)
+        .withPosition(0,540)  
+        .getEntry();
+    Shuffleboard.getTab("Right Drive Encoder")
+        .addPersistent("Back Right Drive Encoder", BACKRIGHT_DRIVE_ENCODER)
+        .withSize(495,269)
+        .withPosition(0,810)  
+        .getEntry(); 
+    Shuffleboard.getTab("Swerve Angle")
+        .addPersistent("Swerve Angle", SWERVE_ANGLE)
+        .withSize(800,530)
+        .withPosition(850,545)  
+        .getEntry();
+}

src/main/java/frc/robot/subsystems/ShuffleboardSubsystem

@@ -0,0 +1,98 @@
+package frc.robot.subsystems;
+
+import java.util.Map;
+
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.util.StateHandler;
+import frc.robot.util.StateVariables.GamePieceMode;
+import frc.robot.util.StateVariables.IntakePositions;
+import frc.robot.util.StateVariables.VerticalLocations;
+
+import frc.robot.Constants;
+
+//importing SUBSYSTEMS
+import frc.robot.subsystems.ArmSubsystem;
+import frc.robot.subsystems.HookSubsystem;
+import frc.robot.subsystems.LinearActuatorSubsystem;
+import frc.robot.subsystems.ShooterSubsystem;
+import frc.robot.subsystems.SingleStrafeSubsystem;
+import frc.robot.subsystems.StrafeSubsystem;
+import frc.robot.subsystems.SwerveSubsystem;
+import frc.robot.subsystems.StrafeModule;
+import frc.robot.subsystems.SwerveModule;
+
+public class ShuffleboardSubsystem extends SubsystemBase {
+	private StateHandler stateHandler = StateHandler.getInstance();
+
+	public ShuffleboardTab driverDashboard = Shuffleboard.getTab("Driver Dashboard")
+        .withSize(20,2)
+        .withPosition(960,0);        
+
+	private GenericEntry hookLift = driverDashboard.add("HIGH", false)
+			.withSize(2, 1)
+			.withPosition(0, 0)
+			.withProperties(Map.of("Color when false", "#000000", "Color when true", "#17FC03"))
+			.getEntry();
+
+	private GenericEntry mid = driverDashboard.add("MID", false)
+			.withSize(2, 1)
+			.withPosition(0, 1)
+			.withProperties(Map.of("Color when false", "#000000", "Color when true", "#17FC03"))
+			.getEntry();
+
+	private GenericEntry low = driverDashboard.add("LOW", false)
+			.withSize(2, 1)
+			.withPosition(0, 2)
+			.withProperties(Map.of("Color when false", "#000000", "Color when true", "#17FC03"))
+			.getEntry();
+
+	private GenericEntry desiredGamePiece = driverDashboard.add("Game Piece", false)
+			.withSize(2, 1)
+			.withPosition(2, 0)
+			.withProperties(Map.of("Color when false", "#7842f5", "Color when true", "#f5ef42"))
+			.getEntry();
+
+	private GenericEntry desiredIntakePosition = driverDashboard
+			.add("DESIRED INTAKE", IntakePositions.SHOOT_TALL.toString())
+			.withSize(2, 1)
+			.withPosition(2, 2)
+			.getEntry();
+
+
+
+	@Override
+	public void periodic() {
+		VerticalLocations currentVerticalLocation = stateHandler.getCurrentVerticalLocation();
+
+		if (currentVerticalLocation == VerticalLocations.HIGH) {
+			high.setBoolean(true);
+		} else {
+			high.setBoolean(false);
+		}
+
+		if (currentVerticalLocation == VerticalLocations.MID) {
+			mid.setBoolean(true);
+		} else {
+			mid.setBoolean(false);
+		}
+
+		if (currentVerticalLocation == VerticalLocations.LOW) {
+			low.setBoolean(true);
+		} else {
+			low.setBoolean(false);
+		}
+
+		GamePieceMode currentGamePiece = stateHandler.getGamePieceMode();
+		if (currentGamePiece == GamePieceMode.CONE) {
+			desiredGamePiece.setBoolean(true);
+		} else {
+			desiredGamePiece.setBoolean(false);
+		}
+
+		desiredIntakePosition.setString(stateHandler.getDesiredIntakePosition().toString());
+
+	}
+}